2
 0.847169  0.447768 -0.286022 0.0264763
-0.246226  0.807882  0.535443 0.0665331
 0.470827 -0.383185  0.794665   0.85178
        0         0         0         1
  0.518451    0.80625  -0.284904  -0.217103
 -0.626127   0.584848   0.515673  -0.107655
  0.582386 -0.0889655    0.80803   0.879086
         0          0          0          1
